Method and device for producing a connecting area on a production part
A method for producing a connection area ( 4 ) on a work piece ( 1 ), in particular on a vehicle body plate which is to be positioned precisely with respect to a reference area ( 8 ) on the work piece ( 1 ). A robot-guided processing tool ( 9 ) is used which is permanently connected to a sensor syst...
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| creator | STAHS THOMAS OSTERTAG FRANK THALER HEIKO BONSE MARCUS KOLB THOMAS PHILIPP ENRICO |
| description | A method for producing a connection area ( 4 ) on a work piece ( 1 ), in particular on a vehicle body plate which is to be positioned precisely with respect to a reference area ( 8 ) on the work piece ( 1 ). A robot-guided processing tool ( 9 ) is used which is permanently connected to a sensor system ( 13 ) and forms a tool/sensor combination ( 16 ) with it. In a first step, the tool/sensor combination ( 16 ) is moved, within the scope of a positioning phase (II), from a proximity position ( 24 ) which is independent of the position of the work piece ( 1 ) in the working space ( 23 ) of the robot ( 11 ), into a preliminary position ( 18 ) in which the tool/sensor combination ( 16 ) is oriented precisely with respect to the reference area ( 8 ) of the work piece ( 1 ). To move to the preliminary position ( 18 ), an iterative closed-loop control process is run through, in the course of which firstly an (actual) measured value of the sensor system ( 13 ) is generated and compared with a (setpoint) measured value generated within the scope of a setup phase. A movement vector of the tool/sensor combination ( 16 ) is calculated from the difference between the (actual) measured value and (setpoint) measured value using a Jacobi matrix which is calculated within the scope of the setup phase, and the tool/sensor combination ( 16 ) is moved by an amount equal to this movement vector. To carry out this positioning task it is possible to dispense with a metric calibration of the tool/sensor combination ( 16 ). |
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A robot-guided processing tool ( 9 ) is used which is permanently connected to a sensor system ( 13 ) and forms a tool/sensor combination ( 16 ) with it. In a first step, the tool/sensor combination ( 16 ) is moved, within the scope of a positioning phase (II), from a proximity position ( 24 ) which is independent of the position of the work piece ( 1 ) in the working space ( 23 ) of the robot ( 11 ), into a preliminary position ( 18 ) in which the tool/sensor combination ( 16 ) is oriented precisely with respect to the reference area ( 8 ) of the work piece ( 1 ). To move to the preliminary position ( 18 ), an iterative closed-loop control process is run through, in the course of which firstly an (actual) measured value of the sensor system ( 13 ) is generated and compared with a (setpoint) measured value generated within the scope of a setup phase. A movement vector of the tool/sensor combination ( 16 ) is calculated from the difference between the (actual) measured value and (setpoint) measured value using a Jacobi matrix which is calculated within the scope of the setup phase, and the tool/sensor combination ( 16 ) is moved by an amount equal to this movement vector. To carry out this positioning task it is possible to dispense with a metric calibration of the tool/sensor combination ( 16 ).</description><language>eng</language><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES ; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOTDIRECTED TO A PARTICULAR RESULT ; COMBINED OPERATIONS ; CONTROL OR REGULATING SYSTEMS IN GENERAL ; CONTROLLING ; DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g.ARRANGEMENTS FOR COPYING OR CONTROLLING ; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS ; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC ; GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS ; HAND TOOLS ; LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS ; MACHINE TOOLS ; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OFPARTICULAR DETAILS OR COMPONENTS ; MANIPULATORS ; MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVINGMATERIAL ; METAL-WORKING NOT OTHERWISE PROVIDED FOR ; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS ; MOTOR VEHICLES ; OTHER WORKING OF METAL ; PERFORMING OPERATIONS ; PHYSICS ; PORTABLE POWER-DRIVEN TOOLS ; PUNCHING METAL ; REGULATING ; TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION ; TECHNICAL SUBJECTS COVERED BY FORMER USPC ; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ; TRAILERS ; TRANSPORTING ; UNIVERSAL MACHINE TOOLS ; WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS ORPROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL</subject><creationdate>2006</creationdate><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20060525&DB=EPODOC&CC=US&NR=2006107508A1$$EHTML$$P50$$Gepo$$Hfree_for_read</linktohtml><link.rule.ids>230,308,776,881,25543,76294</link.rule.ids><linktorsrc>$$Uhttps://worldwide.espacenet.com/publicationDetails/biblio?FT=D&date=20060525&DB=EPODOC&CC=US&NR=2006107508A1$$EView_record_in_European_Patent_Office$$FView_record_in_$$GEuropean_Patent_Office$$Hfree_for_read</linktorsrc></links><search><creatorcontrib>STAHS THOMAS</creatorcontrib><creatorcontrib>OSTERTAG FRANK</creatorcontrib><creatorcontrib>THALER HEIKO</creatorcontrib><creatorcontrib>BONSE MARCUS</creatorcontrib><creatorcontrib>KOLB THOMAS</creatorcontrib><creatorcontrib>PHILIPP ENRICO</creatorcontrib><title>Method and device for producing a connecting area on a production part</title><description>A method for producing a connection area ( 4 ) on a work piece ( 1 ), in particular on a vehicle body plate which is to be positioned precisely with respect to a reference area ( 8 ) on the work piece ( 1 ). A robot-guided processing tool ( 9 ) is used which is permanently connected to a sensor system ( 13 ) and forms a tool/sensor combination ( 16 ) with it. In a first step, the tool/sensor combination ( 16 ) is moved, within the scope of a positioning phase (II), from a proximity position ( 24 ) which is independent of the position of the work piece ( 1 ) in the working space ( 23 ) of the robot ( 11 ), into a preliminary position ( 18 ) in which the tool/sensor combination ( 16 ) is oriented precisely with respect to the reference area ( 8 ) of the work piece ( 1 ). To move to the preliminary position ( 18 ), an iterative closed-loop control process is run through, in the course of which firstly an (actual) measured value of the sensor system ( 13 ) is generated and compared with a (setpoint) measured value generated within the scope of a setup phase. 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To carry out this positioning task it is possible to dispense with a metric calibration of the tool/sensor combination ( 16 ).</description><subject>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</subject><subject>COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOTDIRECTED TO A PARTICULAR RESULT</subject><subject>COMBINED OPERATIONS</subject><subject>CONTROL OR REGULATING SYSTEMS IN GENERAL</subject><subject>CONTROLLING</subject><subject>DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g.ARRANGEMENTS FOR COPYING OR CONTROLLING</subject><subject>FUNCTIONAL ELEMENTS OF SUCH SYSTEMS</subject><subject>GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC</subject><subject>GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS</subject><subject>HAND TOOLS</subject><subject>LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS</subject><subject>MACHINE TOOLS</subject><subject>MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OFPARTICULAR DETAILS OR COMPONENTS</subject><subject>MANIPULATORS</subject><subject>MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVINGMATERIAL</subject><subject>METAL-WORKING NOT OTHERWISE PROVIDED FOR</subject><subject>MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS</subject><subject>MOTOR VEHICLES</subject><subject>OTHER WORKING OF METAL</subject><subject>PERFORMING OPERATIONS</subject><subject>PHYSICS</subject><subject>PORTABLE POWER-DRIVEN TOOLS</subject><subject>PUNCHING METAL</subject><subject>REGULATING</subject><subject>TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION</subject><subject>TECHNICAL SUBJECTS COVERED BY FORMER USPC</subject><subject>TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS</subject><subject>TRAILERS</subject><subject>TRANSPORTING</subject><subject>UNIVERSAL MACHINE TOOLS</subject><subject>WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS ORPROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL</subject><fulltext>true</fulltext><rsrctype>patent</rsrctype><creationdate>2006</creationdate><recordtype>patent</recordtype><sourceid>EVB</sourceid><recordid>eNrjZHDzTS3JyE9RSMxLUUhJLctMTlVIyy9SKCjKTylNzsxLV0hUSM7Py0tNLgFzilITFfLzgIIQBSWZQE5BYlEJDwNrWmJOcSovlOZmUHZzDXH20E0tyI9PLS5ITE7NSy2JDw02MjAwMzQwNzWwcDQ0Jk4VAK-nM-8</recordid><startdate>20060525</startdate><enddate>20060525</enddate><creator>STAHS THOMAS</creator><creator>OSTERTAG FRANK</creator><creator>THALER HEIKO</creator><creator>BONSE MARCUS</creator><creator>KOLB THOMAS</creator><creator>PHILIPP ENRICO</creator><scope>EVB</scope></search><sort><creationdate>20060525</creationdate><title>Method and device for producing a connecting area on a production part</title><author>STAHS THOMAS ; OSTERTAG FRANK ; THALER HEIKO ; BONSE MARCUS ; KOLB THOMAS ; PHILIPP ENRICO</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-epo_espacenet_US2006107508A13</frbrgroupid><rsrctype>patents</rsrctype><prefilter>patents</prefilter><language>eng</language><creationdate>2006</creationdate><topic>CHAMBERS PROVIDED WITH MANIPULATION DEVICES</topic><topic>COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOTDIRECTED TO A PARTICULAR RESULT</topic><topic>COMBINED OPERATIONS</topic><topic>CONTROL OR REGULATING SYSTEMS IN GENERAL</topic><topic>CONTROLLING</topic><topic>DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g.ARRANGEMENTS FOR COPYING OR CONTROLLING</topic><topic>FUNCTIONAL ELEMENTS OF SUCH SYSTEMS</topic><topic>GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC</topic><topic>GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS</topic><topic>HAND TOOLS</topic><topic>LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS</topic><topic>MACHINE TOOLS</topic><topic>MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OFPARTICULAR DETAILS OR COMPONENTS</topic><topic>MANIPULATORS</topic><topic>MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVINGMATERIAL</topic><topic>METAL-WORKING NOT OTHERWISE PROVIDED FOR</topic><topic>MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS</topic><topic>MOTOR VEHICLES</topic><topic>OTHER WORKING OF METAL</topic><topic>PERFORMING OPERATIONS</topic><topic>PHYSICS</topic><topic>PORTABLE POWER-DRIVEN TOOLS</topic><topic>PUNCHING METAL</topic><topic>REGULATING</topic><topic>TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION</topic><topic>TECHNICAL SUBJECTS COVERED BY FORMER USPC</topic><topic>TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS</topic><topic>TRAILERS</topic><topic>TRANSPORTING</topic><topic>UNIVERSAL MACHINE TOOLS</topic><topic>WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS ORPROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL</topic><toplevel>online_resources</toplevel><creatorcontrib>STAHS THOMAS</creatorcontrib><creatorcontrib>OSTERTAG FRANK</creatorcontrib><creatorcontrib>THALER HEIKO</creatorcontrib><creatorcontrib>BONSE MARCUS</creatorcontrib><creatorcontrib>KOLB THOMAS</creatorcontrib><creatorcontrib>PHILIPP ENRICO</creatorcontrib><collection>esp@cenet</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>STAHS THOMAS</au><au>OSTERTAG FRANK</au><au>THALER HEIKO</au><au>BONSE MARCUS</au><au>KOLB THOMAS</au><au>PHILIPP ENRICO</au><format>patent</format><genre>patent</genre><ristype>GEN</ristype><title>Method and device for producing a connecting area on a production part</title><date>2006-05-25</date><risdate>2006</risdate><abstract>A method for producing a connection area ( 4 ) on a work piece ( 1 ), in particular on a vehicle body plate which is to be positioned precisely with respect to a reference area ( 8 ) on the work piece ( 1 ). A robot-guided processing tool ( 9 ) is used which is permanently connected to a sensor system ( 13 ) and forms a tool/sensor combination ( 16 ) with it. In a first step, the tool/sensor combination ( 16 ) is moved, within the scope of a positioning phase (II), from a proximity position ( 24 ) which is independent of the position of the work piece ( 1 ) in the working space ( 23 ) of the robot ( 11 ), into a preliminary position ( 18 ) in which the tool/sensor combination ( 16 ) is oriented precisely with respect to the reference area ( 8 ) of the work piece ( 1 ). To move to the preliminary position ( 18 ), an iterative closed-loop control process is run through, in the course of which firstly an (actual) measured value of the sensor system ( 13 ) is generated and compared with a (setpoint) measured value generated within the scope of a setup phase. A movement vector of the tool/sensor combination ( 16 ) is calculated from the difference between the (actual) measured value and (setpoint) measured value using a Jacobi matrix which is calculated within the scope of the setup phase, and the tool/sensor combination ( 16 ) is moved by an amount equal to this movement vector. To carry out this positioning task it is possible to dispense with a metric calibration of the tool/sensor combination ( 16 ).</abstract><oa>free_for_read</oa></addata></record> |
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| subjects | CHAMBERS PROVIDED WITH MANIPULATION DEVICES COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOTDIRECTED TO A PARTICULAR RESULT COMBINED OPERATIONS CONTROL OR REGULATING SYSTEMS IN GENERAL CONTROLLING DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g.ARRANGEMENTS FOR COPYING OR CONTROLLING FUNCTIONAL ELEMENTS OF SUCH SYSTEMS GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS HAND TOOLS LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS MACHINE TOOLS MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OFPARTICULAR DETAILS OR COMPONENTS MANIPULATORS MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVINGMATERIAL METAL-WORKING NOT OTHERWISE PROVIDED FOR MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS MOTOR VEHICLES OTHER WORKING OF METAL PERFORMING OPERATIONS PHYSICS PORTABLE POWER-DRIVEN TOOLS PUNCHING METAL REGULATING TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION TECHNICAL SUBJECTS COVERED BY FORMER USPC TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS TRAILERS TRANSPORTING UNIVERSAL MACHINE TOOLS WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS ORPROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL |
| title | Method and device for producing a connecting area on a production part |
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